698 lines
35 KiB
Markdown
698 lines
35 KiB
Markdown
|
# Changelog
|
||
|
|
|
||
|
|
A pure Rust EtherCAT MainDevice supporting std and no_std environments.
|
||
|
|
|
||
|
|
<!-- next-header -->
|
||
|
|
|
||
|
|
## [Unreleased] - ReleaseDate
|
||
|
|
|
||
|
|
## [0.7.1] - 2026-03-23
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#366](https://github.com/ethercrab-rs/ethercrab/pull/366) Publicly expose `DefaultLock` so crate
|
||
|
|
consumers can use it.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#365](https://github.com/ethercrab-rs/ethercrab/pull/365) (@Dirreke) Add `io-uring` feature so
|
||
|
|
`io_uring` can be disabled for Linux platforms that don't support it. Example `Cargo.toml`:
|
||
|
|
|
||
|
|
```toml
|
||
|
|
ethercrab = { version = "0.8.0", default-features = false, features = [ "std" ] }
|
||
|
|
```
|
||
|
|
|
||
|
|
## [0.7.0] - 2026-03-16
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#315](https://github.com/ethercrab-rs/ethercrab/pull/315) (@ClarkZaitun) Read SubDevice status
|
||
|
|
code from correct register when state transition fails.
|
||
|
|
- [#313](https://github.com/ethercrab-rs/ethercrab/pull/313) (@fpdotmonkey) Read actual CoE abort
|
||
|
|
code instead of returning `CoeAbortCode::Incompatible` on SDO transfer failures.
|
||
|
|
- [#322](https://github.com/ethercrab-rs/ethercrab/pull/322) Set all configured addresses before
|
||
|
|
initialising SubDevices, fixing an error when adding an existing powered on segment to the
|
||
|
|
EtherCAT network.
|
||
|
|
- [#322](https://github.com/ethercrab-rs/ethercrab/pull/322) Use the same DC reference time to set
|
||
|
|
SYNC0 start time, fixing offsets in SubDevices with 32 bit clocks.
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#310](https://github.com/ethercrab-rs/ethercrab/pull/310) Add support for XDP on Linux systems
|
||
|
|
using the `xdp` feature.
|
||
|
|
- [#305](https://github.com/ethercrab-rs/ethercrab/pull/305) (@fpdotmonkey) Added
|
||
|
|
`SubDevice::sdo_info_object_description_list` and `SubDevice::sdo_info_object_quantities` to get
|
||
|
|
information about a SubDevice's SDOs.
|
||
|
|
- [#351](https://github.com/ethercrab-rs/ethercrab/pull/351) Added basic oversampling support with
|
||
|
|
`SubDevice::set_oversampling`.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#298](https://github.com/ethercrab-rs/ethercrab/pull/298) **(breaking)** Change MSRV from 1.81 to
|
||
|
|
1.85, migrate to edition 2024.
|
||
|
|
- [#331](https://github.com/ethercrab-rs/ethercrab/pull/331) **(breaking)** (@theol0403) Use
|
||
|
|
`lock_api` traits to allow for different locking behaviour.
|
||
|
|
- [#301](https://github.com/ethercrab-rs/ethercrab/pull/301) No longer warn when mailbox counter is
|
||
|
|
not what was sent by the MainDevice.
|
||
|
|
- [#320](https://github.com/ethercrab-rs/ethercrab/pull/320) **(breaking)** (@fpdotmonkey) Add
|
||
|
|
`TimeoutError` to `Error::Timeout` to give a reason why a timeout occurred.
|
||
|
|
- [#328](https://github.com/ethercrab-rs/ethercrab/pull/328) **(breaking)** (@theol0403) Change
|
||
|
|
`MainDevice::init` to require an empty groups structure to be passed in, instead of relying on a
|
||
|
|
`Default` trait bound.
|
||
|
|
- [#330](https://github.com/ethercrab-rs/ethercrab/pull/330) (@theol0403) Stop re-reading
|
||
|
|
potentially broken SyncManager types over CoE. Now the EEPROM is the source of truth for this
|
||
|
|
information.
|
||
|
|
- [#354](https://github.com/ethercrab-rs/ethercrab/pull/354) (@prrn) Don't enable Sync Managers with
|
||
|
|
a length of zero.
|
||
|
|
- [#347](https://github.com/ethercrab-rs/ethercrab/pull/347) (@fpdotmonkey) Stop writing to register
|
||
|
|
`0x0980`. The prior behaviour was copied from SOEM. The register has very little documentation
|
||
|
|
about it and causes issues with some ABB drives, so any writes to it within EtherCrab are removed.
|
||
|
|
|
||
|
|
## [0.6.0] - 2025-03-29
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#234](https://github.com/ethercrab-rs/ethercrab/pull/234) Added `SubDeviceRef::sdo_write_array`
|
||
|
|
to more cleanly write multiple SDO sub-indices and prevent mistakes.
|
||
|
|
- [#274](https://github.com/ethercrab-rs/ethercrab/pull/274) (@1cedsoda) Added
|
||
|
|
`SubDeviceRef::sdo_read_array` to read all sub-indices from a given SDO.
|
||
|
|
- [#239](https://github.com/ethercrab-rs/ethercrab/pull/239) Add
|
||
|
|
`MailboxError::Emergency { error_code, error_register }` variant to surface EMERGENCY responses
|
||
|
|
from CoE transactions.
|
||
|
|
- [#246](https://github.com/ethercrab-rs/ethercrab/pull/246) **Windows:** Add `tx_rx_task_blocking`
|
||
|
|
to use in a separate thread to send/receive EitherCAT frames.
|
||
|
|
- [#242](https://github.com/ethercrab-rs/ethercrab/pull/242) Add support for PDIs longer than a
|
||
|
|
single PDU
|
||
|
|
- [#269](https://github.com/ethercrab-rs/ethercrab/pull/269) **(breaking)**
|
||
|
|
`SubDeviceGroup::tx_rx_*` methods now read the state (PRE-OP, OP, etc) of each SubDevice in the
|
||
|
|
group, along with methods on `TxRxResponse` to test for various state conditions.
|
||
|
|
- [#273](https://github.com/ethercrab-rs/ethercrab/pull/273) Added `SubDevice::set_alias_address`
|
||
|
|
and `SubDeviceRef::set_alias_address` to write an alias address to a SubDevice's EEPROM.
|
||
|
|
- [#278](https://github.com/ethercrab-rs/ethercrab/pull/278) Add
|
||
|
|
`SubDevice::{eeprom_read, eeprom_read_raw, eeprom_size, eeprom_write_dangerously}` methods for
|
||
|
|
working with a SubDevice's EEPROM.
|
||
|
|
|
||
|
|
### Removed
|
||
|
|
|
||
|
|
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) **(breaking)** The `PduError::NoWaker`
|
||
|
|
variant has been removed as it is no longer used or returned by any EtherCrab method.
|
||
|
|
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) **(breaking)** `SubDeviceIterator` is
|
||
|
|
removed. The returned iterator's type signature is now
|
||
|
|
`impl Iterator<Item = SubDeviceRef<'group, ...>>`
|
||
|
|
- [#270](https://github.com/ethercrab-rs/ethercrab/pull/270) **(breaking)** **Windows:**
|
||
|
|
`tx_rx_task` is removed and replaced with `tx_rx_task_blocking` which is no longer `async`. It
|
||
|
|
must be spawned into its own thread instead of an async task.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) `SubDeviceGroup` now wraps its PDI
|
||
|
|
storage in an internal spinlock to allow easier use across multiple tasks/threads, at the risk of
|
||
|
|
introducing deadlocks.
|
||
|
|
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) Remove `Error::Borrow` as it's no
|
||
|
|
longer returned from any EtherCrab method.
|
||
|
|
- [#287](https://github.com/ethercrab-rs/ethercrab/pull/287) **(breaking)** Increase MSRV from 1.77
|
||
|
|
to 1.81.
|
||
|
|
- [#231](https://github.com/ethercrab-rs/ethercrab/pull/231) Enable reading of up to 64 PDO entries
|
||
|
|
per PDO from EEPROM.
|
||
|
|
- [#232](https://github.com/ethercrab-rs/ethercrab/pull/232) Use string index from EEPROM to read
|
||
|
|
device name instead of hard coding to the first string index.
|
||
|
|
- [#232](https://github.com/ethercrab-rs/ethercrab/pull/232) Add
|
||
|
|
`{SubDevice,SubDeviceRef}::description()` method to get longer device name
|
||
|
|
- [#237](https://github.com/ethercrab-rs/ethercrab/pull/237) Read SubDevice group status in chunks
|
||
|
|
of 16 devices to speed up group status reads.
|
||
|
|
- [#239](https://github.com/ethercrab-rs/ethercrab/pull/239) Mailbox emergency responses now return
|
||
|
|
`Error::Mailbox(MailboxError::Emergency)` instead of being ignored.
|
||
|
|
- [#238](https://github.com/ethercrab-rs/ethercrab/pull/238) Group SubDevice status checks are now
|
||
|
|
chunked into however many fit into a frame, instead of being sent separately.
|
||
|
|
- [#241](https://github.com/ethercrab-rs/ethercrab/pull/241) (@david-boles) During init, SMs and
|
||
|
|
FMMUs are reset one-by-one instead of the entire block being written to.
|
||
|
|
- [#246](https://github.com/ethercrab-rs/ethercrab/pull/246) **(breaking)** `PduRx::receive_frame`
|
||
|
|
now returns `Result<ReceiveAction, Error>` instead of `Result<(), Error>`.
|
||
|
|
- [#269](https://github.com/ethercrab-rs/ethercrab/pull/269) **(breaking)**
|
||
|
|
`SubDeviceGroup::tx_rx_*` methods now return a `TxRxResponse` struct instead of a tuple.
|
||
|
|
- [#278](https://github.com/ethercrab-rs/ethercrab/pull/278) Add `Deref` and `DerefMut` impls for
|
||
|
|
`SubDeviceRef` instead of copy/pasting methods from `SubDevice`.
|
||
|
|
- [#287](https://github.com/ethercrab-rs/ethercrab/pull/287) Change SM FMMU mapping fallback
|
||
|
|
behaviour to use the current SM's index instead of looking for the first FMMU of the correct
|
||
|
|
direction.
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#229](https://github.com/ethercrab-rs/ethercrab/pull/229) Fix overflowing subtraction panic when
|
||
|
|
calculating DC cycle offset.
|
||
|
|
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) Frames received before their future's
|
||
|
|
waker is registered will no longer trigger a `NoWaker` error.
|
||
|
|
|
||
|
|
## [0.5.6] - 2025-03-28
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#294](https://github.com/ethercrab-rs/ethercrab/pull/294) Compute SM type using fallback data
|
||
|
|
when EEPROM record is incomplete.
|
||
|
|
|
||
|
|
## [0.5.5] - 2025-03-21
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#291](https://github.com/ethercrab-rs/ethercrab/pull/291) Allow initialisation to progress
|
||
|
|
further for devices with empty EEPROMs by falling back to defaults if config data cannot be found.
|
||
|
|
|
||
|
|
## [0.5.4] - 2025-03-20
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#288](https://github.com/ethercrab-rs/ethercrab/pull/288) Prevent overflow and infinite loops
|
||
|
|
when reading empty or nearly-empty SubDevice EEPROMs.
|
||
|
|
|
||
|
|
## [0.5.3] - 2025-01-24
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#242](https://github.com/ethercrab-rs/ethercrab/pull/242) Add support for PDIs longer than a
|
||
|
|
single PDU
|
||
|
|
|
||
|
|
## [0.5.2] - 2024-12-21
|
||
|
|
|
||
|
|
### Removed
|
||
|
|
|
||
|
|
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) **(breaking)** The `PduError::NoWaker`
|
||
|
|
variant has been removed as it is no longer used or returned by any EtherCrab method.
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) Frames received before their future's
|
||
|
|
waker is registered will no longer trigger a `NoWaker` error.
|
||
|
|
|
||
|
|
## [0.5.1] - 2024-11-26
|
||
|
|
|
||
|
|
### Deprecated
|
||
|
|
|
||
|
|
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **Windows:** `tx_rx_task` is replaced
|
||
|
|
with `tx_rx_task_blocking` which is no longer `async`. It must be spawned into its own thread
|
||
|
|
instead of an async task. `tx_rx_task` will be removed in a future release.
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **Windows:** Add `tx_rx_task_blocking`
|
||
|
|
to use in a separate thread to send/receive EitherCAT frames.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **(breaking)** `PduRx::receive_frame`
|
||
|
|
now returns `Result<ReceiveAction, Error>` instead of `Result<(), Error>`.
|
||
|
|
|
||
|
|
## [0.5.0] - 2024-07-28
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#216](https://github.com/ethercrab-rs/ethercrab/pull/216) PDU retries now use the same PDU index
|
||
|
|
instead of allocating a new frame for every resend.
|
||
|
|
- [#217](https://github.com/ethercrab-rs/ethercrab/pull/217) EEPROM strings must now be valid ASCII
|
||
|
|
as per the EtherCAT specification. UTF-8 strings will return an error when read.
|
||
|
|
- [#218](https://github.com/ethercrab-rs/ethercrab/pull/218) **(breaking)** Removed `expected` and
|
||
|
|
`got` fields from `Error::Wire(WireError::{Read,Write}BufferTooShort)`.
|
||
|
|
- [#218](https://github.com/ethercrab-rs/ethercrab/pull/218) **(breaking)** Increase MSRV from 1.75
|
||
|
|
to 1.77.
|
||
|
|
- [#227](https://github.com/ethercrab-rs/ethercrab/pull/227) **(breaking)** Renamed many public
|
||
|
|
items to use the newer EtherCAT terminology `MainDevice` and `SubDevice` for master/slave
|
||
|
|
respectively.
|
||
|
|
|
||
|
|
| Type | Old | New |
|
||
|
|
| --------- | ------------------------------------------ | ---------------------------------------------- |
|
||
|
|
| `enum` | `SlaveState` | `SubDeviceState` |
|
||
|
|
| `fn` | `Client::num_slaves()` | `MainDevice::num_subdevices()` |
|
||
|
|
| `fn` | `Ds402::slave()` | `Ds402::subdevice()` |
|
||
|
|
| `fn` | `SlaveGroup::slave()` | `SubDeviceGroup::subdevice()` |
|
||
|
|
| `mod` | `ethercrab::slave_group` | `ethercrab::subdevice_group` |
|
||
|
|
| `struct` | `Client` | `MainDevice` |
|
||
|
|
| `struct` | `ClientConfig` | `MainDeviceConfig` |
|
||
|
|
| `struct` | `GroupSlaveIterator` | `GroupSubDeviceIterator` |
|
||
|
|
| `struct` | `Slave` | `SubDevice` |
|
||
|
|
| `struct` | `SlaveGroup` | `SubDeviceGroup` |
|
||
|
|
| `struct` | `SlaveGroupRef` | `SubDeviceGroupRef` |
|
||
|
|
| `struct` | `SlaveIdentity` | `SubDeviceIdentity` |
|
||
|
|
| `struct` | `SlavePdi` | `SubDevicePdi` |
|
||
|
|
| `struct` | `SlaveRef` | `SubDeviceRef` |
|
||
|
|
| `variant` | `AlStatusCode::SlaveNeedsColdStart` | `AlStatusCode::SubDeviceNeedsColdStart` |
|
||
|
|
| `variant` | `AlStatusCode::SlaveNeedsInit` | `AlStatusCode::SubDeviceNeedsInit` |
|
||
|
|
| `variant` | `AlStatusCode::SlaveNeedsPreop` | `AlStatusCode::SubDeviceNeedsPreop` |
|
||
|
|
| `variant` | `AlStatusCode::SlaveNeedsRestartedLocally` | `AlStatusCode::SubDeviceNeedsRestartedLocally` |
|
||
|
|
| `variant` | `AlStatusCode::SlaveNeedsSafeop` | `AlStatusCode::SubDeviceNeedsSafeop` |
|
||
|
|
| `variant` | `Error::UnknownSlave` | `Error::UnknownSubDevice` |
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#162](https://github.com/ethercrab-rs/ethercrab/pull/162) Add support for FreeBSD and NetBSD
|
||
|
|
using BPF.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#236](https://github.com/ethercrab-rs/ethercrab/pull/236) Change mailbox response validation to
|
||
|
|
check index/subindex instead of returned counter.
|
||
|
|
|
||
|
|
## [0.4.3] - 2024-09-26
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#236](https://github.com/ethercrab-rs/ethercrab/pull/236) Change mailbox response validation to
|
||
|
|
check index/subindex instead of returned counter.
|
||
|
|
|
||
|
|
## [0.4.2] - 2024-05-27
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#213](https://github.com/ethercrab-rs/ethercrab/pull/213) (@jbbjarnason) Add `alias_address`
|
||
|
|
method to `Slave` and `SlaveRef` to get a SubDevice's alias address.
|
||
|
|
|
||
|
|
## [0.4.1] - 2024-04-05
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#208](https://github.com/ethercrab-rs/ethercrab/pull/208) Expose `DcSupport` enum at the crate
|
||
|
|
root so it can be used by everyone.
|
||
|
|
|
||
|
|
## [0.4.0] - 2024-03-31
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) **(breaking)** Bump MSRV to 1.75.0
|
||
|
|
- [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) Refactor sub device EEPROM reader to be
|
||
|
|
more efficient when skipping sections of the device EEPROM map.
|
||
|
|
- [#142](https://github.com/ethercrab-rs/ethercrab/pull/142) **(breaking)** Remove `PduRead` and
|
||
|
|
`PduData` traits. These are replaced with `EtherCrabWireRead` and `EtherCrabWireReadWrite` traits
|
||
|
|
respectively, along with `EtherCrabWireReadWrite` for write-only items.
|
||
|
|
|
||
|
|
Some pertinent trait bounds changes in the public API:
|
||
|
|
- `SlaveRef::sdo_read` from `PduData` to `EtherCrabWireWrite`
|
||
|
|
- `SlaveRef::sdo_write` from `PduData` to `EtherCrabWireReadSized`
|
||
|
|
- `SlaveRef::register_read` from `PduData` to `EtherCrabWireWrite`
|
||
|
|
- `SlaveRef::register_write` from `PduData` to `EtherCrabWireReadWrite`
|
||
|
|
|
||
|
|
- [#144](https://github.com/ethercrab-rs/ethercrab/pull/144) **(breaking)**
|
||
|
|
`PduError::InvalidIndex(usize)` is now a `PduError::InvalidIndex(u8)` as the EtherCAT index field
|
||
|
|
is itself onl a `u8`.
|
||
|
|
- [#151](https://github.com/ethercrab-rs/ethercrab/pull/151) Reduced overhead for EEPROM reads. Each
|
||
|
|
chunk reader now only checks for and (attempt to) clear device errors once before reading a chunk
|
||
|
|
of data, not for every chunk.
|
||
|
|
- [#156](https://github.com/ethercrab-rs/ethercrab/pull/156) Update `embassy-time` from 0.2.0 to
|
||
|
|
0.3.0.
|
||
|
|
- [#181](https://github.com/ethercrab-rs/ethercrab/pull/181) `PduStorage` now stores complete
|
||
|
|
Ethernet frames instead of building them on the fly. This adds a little more overhead to each
|
||
|
|
slot, so the reserved data const parameter must be larger to compensate. Use the new
|
||
|
|
`PduStorage::element_size` method to calculate element sizes based on a given maximum PDU payload
|
||
|
|
value.
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#141](https://github.com/ethercrab-rs/ethercrab/pull/141) Added the `ethercat-wire` and
|
||
|
|
`ethercat-wire-derive` crates.
|
||
|
|
|
||
|
|
These crates are **EXPERIMENTAL**. They may be improved for public use in the future but are
|
||
|
|
currently designed around EtherCrab's internal needs and may be rough and/or buggy. Use with
|
||
|
|
caution, and expect breaking changes.
|
||
|
|
|
||
|
|
- [#141](https://github.com/ethercrab-rs/ethercrab/pull/141) Re-export the following traits from
|
||
|
|
`ethercrab-wire` for dealing with packing/unpacking data:
|
||
|
|
- `EtherCrabWireRead`
|
||
|
|
- `EtherCrabWireReadSized`
|
||
|
|
- `EtherCrabWireReadWrite`
|
||
|
|
- `EtherCrabWireSized`
|
||
|
|
- `EtherCrabWireWrite`
|
||
|
|
|
||
|
|
- [#151](https://github.com/ethercrab-rs/ethercrab/pull/151) Add `EepromError::ClearErrors` variant.
|
||
|
|
- [#152](https://github.com/ethercrab-rs/ethercrab/pull/152) Expose `error::CoeAbortCode` for
|
||
|
|
matching on CoE transfer errors.
|
||
|
|
- [#169](https://github.com/ethercrab-rs/ethercrab/pull/169) Linux only: add `io_uring`-based
|
||
|
|
blocking TX/RX loop for better performance.
|
||
|
|
- [#173](https://github.com/ethercrab-rs/ethercrab/pull/173) Add MUSL libc support.
|
||
|
|
- [#178](https://github.com/ethercrab-rs/ethercrab/pull/178) Add `Error::SubDevice` to get a
|
||
|
|
subdevice status code on failure.
|
||
|
|
- [#180](https://github.com/ethercrab-rs/ethercrab/pull/#180) Add `PreOpPdi` state, allowing access
|
||
|
|
to a group's PDI whilst in `PRE-OP`.
|
||
|
|
- [#180](https://github.com/ethercrab-rs/ethercrab/pull/#180) Add `ethercrab::std::ethercat_now`
|
||
|
|
function to get the current time in nanoseconds from the EtherCAT epoch of 2000-01-01.
|
||
|
|
- [#194](https://github.com/ethercrab-rs/ethercrab/pull/#194) Added `SlaveGroup` methods to
|
||
|
|
facilitate graceful shutdown:
|
||
|
|
- `SlaveGroup<Op>::into_safe_op`
|
||
|
|
- `SlaveGroup<SafeOp>::into_pre_op`
|
||
|
|
- `SlaveGroup<PreOp>::into_init`
|
||
|
|
|
||
|
|
The `ek1100` example shows these methods in use.
|
||
|
|
|
||
|
|
- [#195](https://github.com/ethercrab-rs/ethercrab/pull/#195) Add `Register::DcCyclicUnitControl`
|
||
|
|
(0x0980).
|
||
|
|
- [#193](https://github.com/ethercrab-rs/ethercrab/pull/#193) Add
|
||
|
|
`SlaveGroup::<PreOp>::request_into_op` to request all SubDevices in a group transition to OP, but
|
||
|
|
does not wait for them to transition. Also add `SlaveGroup::<Op>::all_op` to check if all
|
||
|
|
SubDevices in the group have reached OP state.
|
||
|
|
- [#198](https://github.com/ethercrab-rs/ethercrab/pull/#198) Add `Error::DistributedClock(_)` and
|
||
|
|
`DistributedClockError` error variant and type to communicate DC errors.
|
||
|
|
- [#198](https://github.com/ethercrab-rs/ethercrab/pull/#198) Add
|
||
|
|
`SlaveGroup::tx_rx_sync_system_time`, `SlaveGroup::tx_rx_dc`, `SlaveRef::set_dc_sync` and
|
||
|
|
`SlaveGroup::configure_dc_sync` to support EtherCAT Distributed Clocks.
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#143](https://github.com/ethercrab-rs/ethercrab/pull/143) **(breaking)** (technically) Fix typo
|
||
|
|
in name `AlStatusCode::ApplicationControllerAvailableI` ->
|
||
|
|
`AlStatusCode::ApplicationControllerAvailable`
|
||
|
|
- [#152](https://github.com/ethercrab-rs/ethercrab/pull/152) CoE errors are not reported correctly
|
||
|
|
from `sdo_read` and `sdo_write`.
|
||
|
|
- [#194](https://github.com/ethercrab-rs/ethercrab/pull/194) `SlaveGroup<PreOp>::into_op` now
|
||
|
|
transitions through SAFE-OP instead of illegally transitioning straight into OP.
|
||
|
|
|
||
|
|
### Removed
|
||
|
|
|
||
|
|
- [#145](https://github.com/ethercrab-rs/ethercrab/pull/145) **(breaking)** Remove the `context`
|
||
|
|
field from `Error::WorkingCounter`. The output from EtherCrab's error logging should be used
|
||
|
|
instead.
|
||
|
|
- [#181](https://github.com/ethercrab-rs/ethercrab/pull/181) **(breaking)** Remove async
|
||
|
|
`SendableFrame::send`. Use `SendableFrame::send_blocking` instead.
|
||
|
|
- [#197](https://github.com/ethercrab-rs/ethercrab/pull/197) Remove `SlaveGroupState` trait. It is
|
||
|
|
no longer required, but the same methods are available so migration should be as simple as just
|
||
|
|
removing the import.
|
||
|
|
|
||
|
|
## [0.3.7] - 2024-03-12
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#183](https://github.com/ethercrab-rs/ethercrab/pull/183) Relax `'static` bound for `tx_rx_task`
|
||
|
|
on Windows.
|
||
|
|
|
||
|
|
## [0.3.6] - 2024-02-14
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#167](https://github.com/ethercrab-rs/ethercrab/pull/167) Add support for reading/writing `f32`,
|
||
|
|
`f64` and `bool`. Note that `f64` cannot currently be written using `sdo_write` as only 4 byte
|
||
|
|
expedited transfers are currently supported.
|
||
|
|
|
||
|
|
## [0.3.5] - 2023-12-22
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#135](https://github.com/ethercrab-rs/ethercrab/pull/135) macOS only: `tx_rx_task` now uses
|
||
|
|
native networking (BPF) instead of `libpcapng` to improve reliability.
|
||
|
|
- [#136](https://github.com/ethercrab-rs/ethercrab/pull/136) **(breaking)** Fix unsoundness issue
|
||
|
|
where `SlaveRef::io_raw` could be called multiple times, allowing multiple mutable references into
|
||
|
|
the device's output data.
|
||
|
|
- [#136](https://github.com/ethercrab-rs/ethercrab/pull/136) **(breaking)** Rename
|
||
|
|
`SlaveRef::io_raw` to `SlaveRef::io_raw_mut`. `SlaveRef::io_raw` remains, but now only returns
|
||
|
|
non-mutable references to both the device inputs and outputs.
|
||
|
|
|
||
|
|
Also renames `SlaveRef::outputs_raw` to `SlaveRef::outputs_raw_mut`. `SlaveRef::outputs` now
|
||
|
|
returns a non-mutable reference to the device output data.
|
||
|
|
|
||
|
|
## [0.3.4] - 2023-11-20
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) The mailbox counter is now per-device
|
||
|
|
instead of global, fixing issues with many devices communicating over CoE.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) Revert
|
||
|
|
[#130](https://github.com/ethercrab-rs/ethercrab/pull/130) "Counter in mailbox response is no
|
||
|
|
longer checked." as this was masking the root cause, which is now fixed.
|
||
|
|
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) **(breaking)** `Slave` no longer
|
||
|
|
implements `Clone` or `PartialEq`. Devices should instead be compared using `name()`,
|
||
|
|
`identity()`, `configured_address()`, etc.
|
||
|
|
|
||
|
|
## [0.3.3] - 2023-11-10
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#130](https://github.com/ethercrab-rs/ethercrab/pull/130) Counter in mailbox response is no
|
||
|
|
longer checked.
|
||
|
|
|
||
|
|
## [0.3.2] - 2023-11-02
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#122] Added `Slave{Ref}::propagation_delay()` to get the EtherCAT propagation delay for a
|
||
|
|
specific device on the network.
|
||
|
|
- [#126] Implement `PduRead` and `PduData` for `[u8; N]`.
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#121] **Linux only:** Relax `'static` lifetime requirement on `std::tx_rx_task` to a named
|
||
|
|
lifetime to allow non-`'static` storage to be used.
|
||
|
|
- [#124] Fixed some spurious panics from race conditions by using atomic wakers.
|
||
|
|
- [#127] Improve frame allocation reliability when contention is high.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#124] **(breaking)** Changed `PduTx::waker()` to `PduTx::replace_waker()`. Instead of calling
|
||
|
|
e.g. `pdu_tx.waker().replace(ctx.waker().clone())`, now it should be
|
||
|
|
`pdu_tx.replace_waker(ctx.waker())`.
|
||
|
|
- (potentially breaking) [#125] Package upgrades, notably `async_io` and `futures_lite` from 1.x to
|
||
|
|
2.0.
|
||
|
|
|
||
|
|
## [0.3.1] - 2023-10-16
|
||
|
|
|
||
|
|
## [0.3.0] - 2023-10-12
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#91] Add support for "cross" topologies, e.g. with EK1122.
|
||
|
|
- [#102] PDU retry behaviour is now configurable between no retries, a limited count, or retrying
|
||
|
|
forever with the `RetryBehaviour` struct and associated `ClientConfig.retry_behaviour` option.
|
||
|
|
- [#103] Added optional `serde` feature to enable ser/de of some EtherCrab items.
|
||
|
|
- [#104] Implement `std::error::Error` for `ethercrab::error::Error` when the `std` feature is
|
||
|
|
enabled.
|
||
|
|
- [#107] Add watchdog fields to `Register` enum: `WatchdogDivider`, `PdiWatchdog`
|
||
|
|
`SyncManagerWatchdog`, `SyncManagerWatchdogStatus` `SyncManagerWatchdogCounter`,
|
||
|
|
`PdiWatchdogCounter`.
|
||
|
|
- [#113] `SlaveState` now implements `PduRead` so can now be read directly, e.g.
|
||
|
|
|
||
|
|
```rust
|
||
|
|
let (status, _wkc) =
|
||
|
|
Command::fprd(slave.configured_address(), RegisterAddress::AlStatus.into())
|
||
|
|
.receive::<SlaveState>(&client)
|
||
|
|
.await?;
|
||
|
|
```
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#92] If no slave devices are detected, `Client::init` will no longer exit with an error.
|
||
|
|
- [#101] **(breaking)** `SendableFrame::send_blocking` and `SendableFrame::send` must now return the
|
||
|
|
number of bytes sent over the network.
|
||
|
|
- [#101] **(breaking)** `SendableFrame::write_ethernet_packet` is no longer `pub`. Instead, use
|
||
|
|
`SendableFrame::send_blocking` or `SendableFrame::send`.
|
||
|
|
- [#103] Removed inner `smoltcp::error::Error` from `PduError::Ethernet` and `PduError::CreateFrame`
|
||
|
|
as these don't add much meaning to the variant.
|
||
|
|
- [#109] **(breaking)** Make all methods on `PduLoop` private.
|
||
|
|
- [#113] **(breaking)** `Command::{code,address,parse}` are no longer `pub`.
|
||
|
|
- [#119] **(breaking)** Changed `SlaveState::Unknown` to `SlaveState::Other(u8)` to better represent
|
||
|
|
unknown or different states of multiple slaves (e.g. when sending a `BRD`).
|
||
|
|
|
||
|
|
### Removed
|
||
|
|
|
||
|
|
- [#99] **(breaking)** All PDU methods on `Client` (`Client::bwr`, `Client::fprd`) have been
|
||
|
|
removed. Instead, use the same methods on `Command` like `Command::bwr`, `Command::fprd` etc.
|
||
|
|
|
||
|
|
## [0.2.1] - 2023-07-31
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#84] `GroupSlave::iter` will now panic instead of completing early if a slave device is already
|
||
|
|
borrowed.
|
||
|
|
- [#114] The `std` TX/RX future now consumes any queued packets, not just the first one. This fixes
|
||
|
|
PDU timeout issues with `zip`/`join`ed futures.
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#83] Add `SlaveRef::identity` method to get the vendor ID, hardware revision, etc of a slave
|
||
|
|
device.
|
||
|
|
- [#86] Expose the `SlaveIdentity` struct.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#84] The `SlaveGroupState` trait is now not-doc-hidden so the `GroupSlave::slave` method is more
|
||
|
|
easily accessible.
|
||
|
|
|
||
|
|
## [0.2.0] - 2023-07-31
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- [#47] Add the ability to read/write registers/SDOs from grouped slave devices, with the methods
|
||
|
|
`SlaveRef::register_read`, `SlaveRef::register_write`, `SlaveRef::sdo_read` and
|
||
|
|
`SlaveRef::sdo_write`.
|
||
|
|
- [#30] Added `Copy`, `Clone`, `PartialEq` and `Eq` implementations to `Error` and `PduError`.
|
||
|
|
- [#1] Added `SlaveGroup::len` and `SlaveGroup::is_empty` methods.
|
||
|
|
- [#29] Implement `Display` for `Error`, `PduError`, `MailboxError`, `EepromError`,
|
||
|
|
`VisibleStringError` and `PduValidationError`
|
||
|
|
- [#31] **(breaking)** Added a `ClientConfig` argument to `Client::new` to allow configuration of
|
||
|
|
various EtherCrab behaviours.
|
||
|
|
- [#55] Added `Client::init_single_group` to reduce boilerplate when only using a single group of
|
||
|
|
devices.
|
||
|
|
- [#55] Removed MSRV commitment (was 1.68)
|
||
|
|
- [#59] Added `SendableFrame::send_blocking` method.
|
||
|
|
|
||
|
|
### Removed
|
||
|
|
|
||
|
|
- [#75] **(breaking)** `Client::request_slave_state` is removed. Groups should be transitioned into
|
||
|
|
the various states individually using `into_op` or `into_safe_op`.
|
||
|
|
- [#75] **(breaking)** `SlaveGroup::new` is removed. Slave groups can be created with
|
||
|
|
`SlaveGroup::default()` instead
|
||
|
|
- [#45] **(breaking)** The `SlaveGroupContainer` trait is no longer needed and has been removed.
|
||
|
|
|
||
|
|
### Changed
|
||
|
|
|
||
|
|
- [#75] **(breaking)** `Client::init` no longer takes a `groups` argument and now requires
|
||
|
|
`G: Default`.
|
||
|
|
- [#75] **(breaking)** `SlaveGroup`s no longer configure using a closure - instead use
|
||
|
|
`SlaveGroup::iter` or `SlaveGroup::slave` to configure slave devices inline.
|
||
|
|
- [#75] **(breaking)** `SlaveGroup`s now have a type state. Use `into_safe_op` and `into_op` to
|
||
|
|
transition from PRE-OP as provided by `Client::init` into run mode.
|
||
|
|
- [#47] Slave `sdo_read` and `sdo_write` methods no longer require the use of `SubIndex`. For single
|
||
|
|
accesses, a raw `u8` can be passed instead for cleaner configuration code.
|
||
|
|
- [#47] **(breaking)** `SlaveGroup::slave` and `SlaveGroup::iter` (was `slaves`) now requires the
|
||
|
|
passing of a `Client` reference when called.
|
||
|
|
- [#47] **(breaking)** `SlaveGroup::slaves` is renamed to `SlaveGroup::iter`
|
||
|
|
- [#47] **(breaking)** Grouped slaves that were previously represented as `GroupSlave`s are now
|
||
|
|
represented as `SlaveRef<'_, SlavePdi<'_>>` instead. `GroupSlave` is removed.
|
||
|
|
- [#47] **(breaking)** The `io()`, `inputs()` and `outputs()` methods on grouped slaves have been
|
||
|
|
renamed to `io_raw()`, `inputs_raw()` and `outputs_raw()` respecitively.
|
||
|
|
- [#47] **(breaking)** The `Slave.name` and `Slave.identity` fields have been replaced with methods
|
||
|
|
of the same name.
|
||
|
|
- [#45] **(breaking)** The grouping closure passed to `Client::init` now requires a
|
||
|
|
`&dyn SlaveGroupHandle` to be returned. This is a sealed trait only implemented for `SlaveGroup`s
|
||
|
|
and allows some internal refactors by erasing the const generics from `SlaveGroup`.
|
||
|
|
- [#32] **(breaking)** To mitigate some internal issues, `PduStorage` now requires `N` (the number
|
||
|
|
of storage elements) to be a power of two.
|
||
|
|
- [#33] **(breaking)** `send_frames_blocking` is removed. It is replaced with
|
||
|
|
`PduTx::next_sendable_frame` which can be used to send any available frames in a loop until it
|
||
|
|
returns `None`.
|
||
|
|
- [#30] **(breaking)** Removed `PduError::Encode` variant.
|
||
|
|
- [#25] **(breaking)** Renamed `pdu_rx` to `receive_frame` to mirror `send_frames_blocking`.
|
||
|
|
- [#20] **(breaking)** Changed the way the client, tx and rx instances are initialised to only allow
|
||
|
|
one TX and RX to exist.
|
||
|
|
|
||
|
|
Before
|
||
|
|
|
||
|
|
```rust
|
||
|
|
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
|
||
|
|
static PDU_LOOP: PduLoop = PduLoop::new(PDU_STORAGE.as_ref());
|
||
|
|
|
||
|
|
async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
|
||
|
|
let client = Arc::new(Client::new(&PDU_LOOP, Timeouts::default()));
|
||
|
|
|
||
|
|
ex.spawn(tx_rx_task(INTERFACE, &client).unwrap()).detach();
|
||
|
|
}
|
||
|
|
```
|
||
|
|
|
||
|
|
After
|
||
|
|
|
||
|
|
```rust
|
||
|
|
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
|
||
|
|
|
||
|
|
async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
|
||
|
|
let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
|
||
|
|
|
||
|
|
let client = Arc::new(Client::new(pdu_loop, Timeouts::default()));
|
||
|
|
|
||
|
|
ex.spawn(tx_rx_task(INTERFACE, tx, rx).unwrap()).detach();
|
||
|
|
}
|
||
|
|
```
|
||
|
|
|
||
|
|
- [#16] **(breaking)** Remove `TIMER`/`TIMEOUT` generic parameter. `std` environments will now use
|
||
|
|
the timer provided by `smol` (`async-io`). `no_std` environments will use `embassy-time`.
|
||
|
|
- [#9] **(breaking)** Rename the fields of some variants in `ethercrab::error::Error` to make them
|
||
|
|
less confusing.
|
||
|
|
- [#2] **(breaking)** Rename `slave_group::Configurator` to `SlaveGroupRef`.
|
||
|
|
- [#1] **(breaking)** `SlaveGroup::slaves` now returns an iterator over each slave with IO in the
|
||
|
|
group, instead of a plain slave.
|
||
|
|
|
||
|
|
### Fixed
|
||
|
|
|
||
|
|
- [#28] Fix abort code parsing for expedited SDO responses.
|
||
|
|
- [#26] :tada: EtherCrab now works on stable Rust. The MSRV is 1.68.
|
||
|
|
- [#23] Strip trailing null bytes (`\0`) in strings read from SII
|
||
|
|
- [#14] Fixed various overflow/arithmetic bugs in distributed clock time calculations and PDI
|
||
|
|
configuration
|
||
|
|
- [#6] Fixed topology detection not stopping at first upstream fork when there is a slave device
|
||
|
|
before the fork.
|
||
|
|
- [#6] Internal bugfixes to topology discovery code.
|
||
|
|
- [#2] Fixed multiple group PDI mapping calculation during initialisation.
|
||
|
|
- [#57] Fixed a buffer size calculation crash when reading SDOs.
|
||
|
|
|
||
|
|
## [0.1.0] - 2023-01-02
|
||
|
|
|
||
|
|
### Added
|
||
|
|
|
||
|
|
- Initial release
|
||
|
|
|
||
|
|
<!-- next-url -->
|
||
|
|
[unreleased]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.7.1...HEAD
|
||
|
|
|
||
|
|
[0.7.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.7.0...ethercrab-v0.7.1
|
||
|
|
[0.7.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.6.0...ethercrab-v0.7.0
|
||
|
|
[0.6.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.6...ethercrab-v0.6.0
|
||
|
|
[0.5.6]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.5...ethercrab-v0.5.6
|
||
|
|
[0.5.5]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.4...ethercrab-v0.5.5
|
||
|
|
[0.5.4]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.3...ethercrab-v0.5.4
|
||
|
|
[0.5.3]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.2...ethercrab-v0.5.3
|
||
|
|
[0.5.2]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.1...ethercrab-v0.5.2
|
||
|
|
[0.5.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.0...ethercrab-v0.5.1
|
||
|
|
[0.5.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.2...ethercrab-v0.5.0
|
||
|
|
[0.4.3]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.2...ethercrab-v0.4.3
|
||
|
|
[0.4.2]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.1...ethercrab-v0.4.2
|
||
|
|
[0.4.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.0...ethercrab-v0.4.1
|
||
|
|
[0.4.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.6...ethercrab-v0.4.0
|
||
|
|
[0.3.7]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.6...v0.3.7
|
||
|
|
[0.3.6]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.5...v0.3.6
|
||
|
|
[0.3.5]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.4...v0.3.5
|
||
|
|
[0.3.4]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.3...v0.3.4
|
||
|
|
[0.3.3]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.2...v0.3.3
|
||
|
|
[0.3.4]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.2...v0.3.4
|
||
|
|
[0.3.2]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.0...v0.3.2
|
||
|
|
[0.3.1]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.0...v0.3.1
|
||
|
|
[0.3.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.2.1...v0.3.0
|
||
|
|
[0.2.1]: https://github.com/ethercrab-rs/ethercrab/compare/v0.2.0...v0.2.1
|
||
|
|
[#2]: https://github.com/ethercrab-rs/ethercrab/pull/2
|
||
|
|
[#1]: https://github.com/ethercrab-rs/ethercrab/pull/1
|
||
|
|
[#6]: https://github.com/ethercrab-rs/ethercrab/pull/6
|
||
|
|
[#9]: https://github.com/ethercrab-rs/ethercrab/pull/9
|
||
|
|
[#14]: https://github.com/ethercrab-rs/ethercrab/pull/14
|
||
|
|
[#16]: https://github.com/ethercrab-rs/ethercrab/pull/16
|
||
|
|
[#23]: https://github.com/ethercrab-rs/ethercrab/pull/23
|
||
|
|
[#20]: https://github.com/ethercrab-rs/ethercrab/pull/20
|
||
|
|
[#25]: https://github.com/ethercrab-rs/ethercrab/pull/25
|
||
|
|
[#26]: https://github.com/ethercrab-rs/ethercrab/pull/26
|
||
|
|
[#28]: https://github.com/ethercrab-rs/ethercrab/pull/28
|
||
|
|
[#29]: https://github.com/ethercrab-rs/ethercrab/pull/29
|
||
|
|
[#30]: https://github.com/ethercrab-rs/ethercrab/pull/30
|
||
|
|
[#31]: https://github.com/ethercrab-rs/ethercrab/pull/31
|
||
|
|
[#32]: https://github.com/ethercrab-rs/ethercrab/pull/32
|
||
|
|
[#33]: https://github.com/ethercrab-rs/ethercrab/pull/33
|
||
|
|
[#45]: https://github.com/ethercrab-rs/ethercrab/pull/45
|
||
|
|
[#47]: https://github.com/ethercrab-rs/ethercrab/pull/47
|
||
|
|
[#55]: https://github.com/ethercrab-rs/ethercrab/pull/55
|
||
|
|
[#59]: https://github.com/ethercrab-rs/ethercrab/pull/59
|
||
|
|
[#75]: https://github.com/ethercrab-rs/ethercrab/pull/75
|
||
|
|
[#83]: https://github.com/ethercrab-rs/ethercrab/pull/83
|
||
|
|
[#84]: https://github.com/ethercrab-rs/ethercrab/pull/84
|
||
|
|
[#86]: https://github.com/ethercrab-rs/ethercrab/pull/86
|
||
|
|
[#91]: https://github.com/ethercrab-rs/ethercrab/pull/91
|
||
|
|
[#92]: https://github.com/ethercrab-rs/ethercrab/pull/92
|
||
|
|
[#99]: https://github.com/ethercrab-rs/ethercrab/pull/99
|
||
|
|
[#101]: https://github.com/ethercrab-rs/ethercrab/pull/101
|
||
|
|
[#102]: https://github.com/ethercrab-rs/ethercrab/pull/102
|
||
|
|
[#103]: https://github.com/ethercrab-rs/ethercrab/pull/103
|
||
|
|
[#104]: https://github.com/ethercrab-rs/ethercrab/pull/104
|
||
|
|
[#107]: https://github.com/ethercrab-rs/ethercrab/pull/107
|
||
|
|
[#109]: https://github.com/ethercrab-rs/ethercrab/pull/109
|
||
|
|
[#113]: https://github.com/ethercrab-rs/ethercrab/pull/113
|
||
|
|
[#114]: https://github.com/ethercrab-rs/ethercrab/pull/114
|
||
|
|
[#119]: https://github.com/ethercrab-rs/ethercrab/pull/119
|
||
|
|
[#121]: https://github.com/ethercrab-rs/ethercrab/pull/121
|
||
|
|
[#122]: https://github.com/ethercrab-rs/ethercrab/pull/122
|
||
|
|
[#124]: https://github.com/ethercrab-rs/ethercrab/pull/124
|
||
|
|
[#125]: https://github.com/ethercrab-rs/ethercrab/pull/125
|
||
|
|
[#126]: https://github.com/ethercrab-rs/ethercrab/pull/126
|
||
|
|
[#127]: https://github.com/ethercrab-rs/ethercrab/pull/127
|
||
|
|
[0.2.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.1.0...v0.2.0
|
||
|
|
[0.1.0]: https://github.com/ethercrab-rs/ethercrab/compare/fb37346...v0.1.0
|